If this is your first time, please check the Wiki page of this repository to learn how to work with the arm
If ROS is installed on Ubuntu 16.04 but it is first time you are using your current laptop to work with the arm,
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Now, go ahead and isntall the libraries below:
sudo apt-get install ros-kinetic-moveit && sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers && sudo apt-get install ros-kinetic-industrial-msgs && rosdep install robotiq_modbus_tcp && sudo apt-get install ros-kinetic-soem
Create a catkin workspace by running the commands below:
mkdir -p ~/catkin_ws/src
cd catkin_ws
wstool init src https://raw.githubusercontent.com/bu-air-lab/UR5e_arm/master/rosinstall/kinetic.rosinstall
Now compile:
catkin_make
If there are no errors, the source the workspace and run the bringup:
source devel/setup.bash
roslaunch ur_modern_driver ur5e_bringup.launch robot_ip:=IP_OF_ROBOT
The robot can go move to hard-coded points:
rosrun ur_modern_driver test_move.py
Also, usuing RVIZ, you can give goals to the arm. To do that, open up a new terminal and:
source ~/catkin_ws/devel/setup.bash
roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
and in another terminal:
source ~/catkin_ws/devel/setup.bash
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
To work with the gripper:
sudo usermod -a -G dialout $USER
dmesg | grep tty
sudo chmod 777 /dev/ttyACM0
rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyACM0
And in a new terminal:
rosrun robotiq_2f_gripper_control Robotiq2FGripperSimpleController.py
Once you are done working, please turn off the arm.